A precise landing method for UAV based on image processing
An image processing and drone technology, applied in image data processing, image analysis, instruments, etc., can solve problems such as inability to customize, meet the requirements of real-time and accuracy, easy to implement, and simple in method design.
Active Publication Date: 2018-10-02
江苏中科智能科学技术应用研究院
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
The disadvantage of this method is that the detection is limited to specific apriltag tags and cannot be customized
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0040] The following description and drawings illustrate specific embodiments of the invention sufficiently to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely represent possible variations. Individual components and functions are optional unless explicitly required, and the order of operations may vary. Portions and features of some embodiments may be included in or substituted for those of other embodiments. The scope of embodiments of the present invention includes the full scope of the claims, and all available equivalents of the claims.
[0041] like figure 2 As shown, the ground is marked as an outer square and an inner circle, the outer part is a square part 1, the area of the square part 1 is set to black, and the inside of the square part 1 is a round part 2, and the color is set to white, mainly for the purpose of matching with the square part 1 ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides an unmanned aerial vehicle precision landing method based on image processing. The method comprises the steps of building a position relation model between an unmanned aerial vehicle camera and a land mark; utilizing linear transformation for working out three-dimensional coordinates and direction angle information of the unmanned aerial vehicle camera relative to the land mark; performing rotation and translation operation on the three-dimensional coordinates and direction angle information of the unmanned aerial vehicle camera relative to the land mark and converting the coordinates and the information into a world coordinate system. The defect that GPS positioning precision is not good enough is overcome, and compared with RTK, the cost is greatly lowered; the position of the land mark in an image is detected, the relative three-dimensional position between the mark and the unmanned aerial vehicle is worked out in real time, the requirement for real-time performance and accuracy in practical use is met, the method is simple in design, and the method is convenient to implement while reliability is ensured; compared with a camera-based unmanned aerial vehicle landing mark detection method, the mark can be customized within a certain range, and the use degree of freedom is increased.
Description
technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle landing methods, and in particular relates to an image processing-based accurate landing method for unmanned aerial vehicles. Background technique [0002] In recent years, drones have gradually entered people's field of vision, but there are still many technical problems, and precise landing is one of the most important problems. [0003] At first, researchers used traditional GPS positioning, but the accuracy can only reach within ten meters, and it is impossible to achieve precise landing. At this time, RTK, as a new GPS technology, can obtain centimeter-level accuracy by using carrier phase difference technology, but RTK costs more. high. In order to solve the cost problem, technicians in the field use cameras to detect ground marks in real time, and use image processing technology to detect the position of marks in the video in real time. Correct the yaw angle in real time, ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/13G06T7/70G06T7/80
CPCG06T7/13G06T7/70G06T7/85
Inventor 高含王伟杜浩肖冉
Owner 江苏中科智能科学技术应用研究院